CN210679542U

CN210679542U - Automatic offcut cutting system

Info

Publication number: CN210679542U
Application number: CN201921078095.3U
Authority: CN
Inventors: 林裕藩; 张将来
Original assignee: Shenzhen Ruifei Technology Co ltd; Fendi Technology (shenzhen) Co Ltd
Current assignee: Shenzhen Ruifei Technology Co ltd; Fendi Technology (shenzhen) Co Ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2020-06-05
Anticipated expiration: 2029-07-10

Abstract

The utility model provides an automatic excision system of rim charge, include: the feeding assembly is provided with a feeding position for placing a product to be treated; the positioning device is used for positioning a product to be processed; the cutting assembly is used for cutting waste materials of a product to be processed; the finished product trough is used for collecting the processed finished products; the carrying manipulator is used for transferring the product to be processed on the loading position to the positioning device and transferring the finished product on the positioning device to the finished product trough; and the control cabinet is electrically connected with the positioning device, the cutting assembly and the carrying manipulator respectively. The utility model provides an automatic excision system of rim charge need not manual operation, has saved the cost of labor, and each step is all accomplished through machinery simultaneously, and it has improved the efficiency of rim charge excision greatly to and the precision of rim charge excision has been improved.

Description

Automatic offcut cutting system

Technical Field

The utility model belongs to the technical field of machining, more specifically say, relate to an automatic excision system of rim charge.

Background

In injection molding, a plastic part product is molded through an injection mold, and a water gap is an essential part for completing an injection molding and filling process. The water gaps of most injection molding products cannot be directly cut off in the injection molding process due to the limitation of the design of the water gaps, and the water gaps need to be cut off after the injection molding is finished.

At present, the traditional tools can only be manually used for processing one by one and then stacking. Like this, not only influence the production efficiency of plastic part, still will consume a large amount of manual works, increase the manufacturing cost of enterprise, because manual operation easily appears the maloperation simultaneously, easily cause not cut the condition such as clean, be unfavorable for the product quality management and control of enterprise.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic excision system of rim charge to solve the technical problem that carries out the cut mouth of a river through the manual work that exists among the prior art and handle and lead to plastic part production efficiency low and take a lot of work and trouble.

In order to achieve the above object, the utility model adopts the following technical scheme: provided is an automatic rim charge cutting system, including:

the feeding assembly is provided with a feeding position for placing a product to be treated;

the positioning device is used for positioning a product to be processed;

the cutting assembly is used for cutting waste materials of a product to be processed;

the finished product trough is used for collecting the processed finished products;

the carrying manipulator is used for transferring the product to be processed on the loading position to the positioning device and transferring the finished product on the positioning device to the finished product trough;

and the control cabinet is electrically connected with the positioning device, the cutting assembly and the carrying manipulator respectively.

Furthermore, the automatic offcut cutting system further comprises an information acquisition device, wherein the information acquisition device is arranged at an execution end of the carrying manipulator and is used for acquiring position information of a product to be processed and boundary information of the offcut of the product to be processed, and the cutting assembly is used for cutting waste materials according to the boundary information of the offcut.

Furthermore, the automatic rim charge cutting system also comprises a grabbing component, wherein the grabbing component is arranged at the execution end and is used for grabbing the product to be processed according to the position information;

the information acquisition device, the grabbing component and the cutting component are arranged at intervals.

Further, the carrying manipulator is a six-axis robot, and the information acquisition device is a CCD camera.

Further, the manipulator body includes the trip shaft, the execution end is the end of trip shaft, be equipped with the mounting panel on the execution end, the mounting panel subsides are located the execution end and with trip shaft axial vertical, snatch the subassembly the information acquisition device reaches the excision subassembly all install in on the mounting panel.

Further, the grasping assembly includes:

one end of the connecting rod is fixed on the mounting plate, and the other end of the connecting rod extends away from the mounting plate and is perpendicular to the connecting line of the information acquisition device and the cutting assembly;

the suction seat is arranged at the other end of the connecting rod and is perpendicular to the mounting plate;

the first suction nozzles are uniformly distributed on the suction seat and are used for adsorbing a product to be treated;

the suction seat is provided with a plurality of uniformly distributed waist-shaped holes, and each first suction nozzle is fixed on each waist-shaped hole in a position-adjustable manner.

Further, the positioning device includes:

a mounting seat;

the positioning substrate is rotatably arranged on the mounting seat, can be horizontally arranged to bear a product to be treated and can rotate to pour out waste materials generated after the product to be treated is treated;

the positioning structure is arranged on the mounting seat or the positioning substrate and is used for positioning a product to be processed on the positioning substrate;

and the rotation driving mechanism is arranged on the mounting seat and is used for driving the positioning substrate to rotate.

Furthermore, the automatic rim charge cutting system also comprises a waste chute which is arranged below the positioning base plate and is used for collecting waste materials poured out of the positioning base plate.

Furthermore, the mount pad is injectd the rotation space, rotary driving mechanism includes the pivot and is used for the drive the revolving cylinder of pivot, revolving cylinder locates on the mount pad, the pivot is rotated and is located on the mount pad and transversely be located in the rotation space, the bottom of location base plate install in the pivot.

Further, the automatic offcut excision system of rim charge still includes work platform, the transport manipulator is located work platform is last, positioner locates work platform is last and the part stretches out one side of work platform, the dirty silo is located work platform one side, the material loading subassembly reaches the finished product silo is located respectively other sides of work platform.

The utility model provides an automatic excision system of rim charge's beneficial effect lies in: compared with the prior art, the utility model discloses an automatic excision system of rim charge includes the material loading subassembly, the transport manipulator, positioner, the excision subassembly, finished product silo and switch board, positioner can carry out the automatic positioning to the product of treating, the excision subassembly can carry out the automatic excision to the product of treating on the material loading level, the transport manipulator can carry the automatic transport of the product of treating on the material loading level to positioner, and carry the finished product automation on the positioner to the finished product silo, and the steerable transport manipulator of switch board, the precedence working order of positioner and excision subassembly, therefore, make at the in-process of the excision of product rim charge of treating, need not manual operation, the cost of labor has been saved, simultaneously each step is through mechanical the completion, it has improved the efficiency of rim charge excision greatly, and the precision of rim charge excision has been improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic structural diagram of an automatic rim charge cutting system according to an embodiment of the present invention;

FIG. 2 is an installation schematic diagram of the handling robot, the ablation assembly, the information acquisition device, and the grasping assembly of FIG. 1;

FIG. 3 is a partial detail view of FIG. 2;

FIG. 4 is a schematic view of the positioning device of FIG. 1 in a working state for positioning a product to be processed;

FIG. 5 is a perspective view of the positioning device of FIG. 4;

fig. 6 is a perspective view of the positioning device of fig. 4 from another angle.

Wherein, in the figures, the respective reference numerals:

1-a feeding assembly; 2-carrying mechanical arm; 3-a positioning device; 4-a resection component; 5-an information acquisition device; 6-a grasping assembly; 7-finished product trough; 8-a waste chute; 9-a control cabinet; 10-a working platform; 11-a loading level; 21-a base; 22-an execution end; 23-a turning shaft; 24-a mounting plate; 25-a connector; 31-a mounting seat; 32-positioning the substrate; 33-a positioning structure; 34-a rotary drive mechanism; 41-a tool holder; 42-a blade; 43-a platen; 61-a connecting rod; 62-a suction seat; 63-a first suction nozzle; 241-a first side; 242-a second side; 251-a first connection plate; 252-a second connecting plate; 310-rotation space; 311-installation space; 312-side plate; 313-a spacer; 314-mounting a base plate; 315-a stiffener plate; 317, fixing a plate; 316-a second suction nozzle; 320-mounting holes; 331-fixed block group; 332-active positioning group; 341-a rotating shaft; 342-a rotary cylinder; 410-mounting grooves; 620-a first kidney shaped aperture; 3121-a body portion; 3122-an extension; 3310-second kidney-shaped hole; 3311-first fixed block; 3312-second fixed block; 3321-first movable block; 3322-second movable block; 3323-third movable block; 3324-first cylinder; 3325-second cylinder; 3326-third cylinder; 200-a product to be treated; 300-finished product.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1, the automatic offcut cutting system of the present invention will now be described. In this embodiment, the automatic cutting system for rim charge is mainly used for automatically cutting the nozzle of plastic parts. It is understood that, in other embodiments of the present invention, the automatic rim charge cutting system may also be used for cutting off waste materials and rim charges of other products, which is not limited herein.

The automatic rim charge cutting system comprises a feeding assembly 1, a carrying manipulator 2, a positioning device 3, a cutting assembly 4, a finished product trough 7 and a control cabinet 9, wherein the control cabinet 9 is electrically connected with the positioning device 3, the cutting assembly 4 and the carrying manipulator 2 respectively and is used for controlling the working sequence of the positioning device 3, the cutting assembly 4 and the carrying manipulator 2, and of course, the specific circuit control inside the control cabinet 9 is the prior art, and the detailed description is not provided herein.

The material loading subassembly 1 has the material loading level 11 that is used for placing the pending product 200, in this embodiment, in order to make the forming device compact structure of whole plastic part, with the plastic part the system of moulding plastics and the automatic excision system of rim charge in this embodiment closely adjacent setting, also be promptly with the material loading subassembly 1 of this application set up the unloading mechanism of the system of moulding plastics of plastic part, and material loading level 11 is the material level of getting of the unloading groove of the system of moulding plastics promptly. It is understood that, in other embodiments of the present invention, according to practical situations and specific requirements, the feeding assembly 1 may also be configured as a horizontal or vertical conveying mechanism, for example, the product 200 to be processed is conveyed horizontally or vertically from the injection molding position, and the feeding position 11 is the conveying terminal position of the feeding assembly 1, which is not limited herein.

The handling robot 2 is configured to transfer the product 200 to be processed on the loading level 11 to the positioning device 3, and transfer the finished product 300 on the positioning device 3 to the finished product chute 7. The positioning device 3 is used for positioning the product 200 to be processed, the cutting assembly 4 is used for cutting waste materials of the product 200 to be processed, and the finished product trough 7 is used for collecting the processed finished product 300.

The specific working process of the automatic rim charge cutting system in the embodiment is as follows: firstly, the control cabinet 9 controls the carrying manipulator 2 to carry the product 200 to be processed on the loading position 11 to the positioning device 3, the control cabinet 9 controls the positioning device 3 to position the product 200 to be processed thereon, then the control cabinet 9 controls the cutting assembly 4 to carry out the rim charge cutting processing on the product 200 to be processed, and finally the control cabinet 9 controls the carrying manipulator 2 to carry the finished product 300 processed by the cutting assembly 4 to the finished product trough 7 for collection.

The utility model provides an automatic excision system of rim charge includes material loading subassembly 1, carrying mechanical arm 2, positioner 3, excision subassembly 4, finished product silo 7 and switch board 9, positioner 3 can carry out the automatic positioning to pending product 200, excision subassembly 4 can carry out the automatic excision to pending product 200, carrying mechanical arm 2 can carry pending product 200 on material loading level 11 to positioner 3 automatically, and carry finished product 300 on positioner 3 to finished product silo 7 automatically, and switch board 9 can control the work order of carrying mechanical arm 2, positioner 3 and excision subassembly 4, so, in the process of succeeding in that pending product 200 rim charge excision, need not manual operation, save the cost of labor, reduce enterprise's cost, simultaneously each step is accomplished through machinery, it has improved the efficiency of rim charge excision greatly, and the accuracy of rim charge excision has been improved, the quality of enterprise is improved and is controlled.

Further, referring to fig. 1, the automatic rim charge cutting system further includes a waste bin 8, and the waste bin 8 is used for collecting waste generated after the product 200 to be processed is cut by the cutting assembly 4.

Further, please refer to fig. 1, the automatic rim charge cutting system further includes a working platform 10, the carrying manipulator 2 is disposed on the working platform 10, the positioning device 3 is disposed on the working platform 10 and partially extends out of one side of the working platform 10, the waste material tank 8 is disposed on one side of the working platform 10, and the feeding assembly 1 and the finished product tank 7 are respectively disposed on other sides of the working platform 10. In this embodiment, specifically, the waste chute 8 is arranged on the front side of the working platform 10, the feeding assembly 1 is arranged on the left side of the working platform 10, and the finished product chute 7 is arranged on the right side of the working platform 10, so that the whole automatic rim charge cutting system is compact in layout and small in occupied space.

Specifically, the handling robot 2 is a general robot, which can be used for handling the product 200 to be processed, and the handling robot 2 has a base 21 and an actuating end 22. The base 21 may be disposed on the working platform 10, and the base 21 may be directly disposed on the working platform 10 or fixed to the working platform 10 by a fastener or other means. The actuating end 22 has a plurality of degrees of freedom, and the actuating end 22 can swing freely, so that the actuating end can be used for conveying the products 200 to be processed.

Preferably, in the present embodiment, the handling robot 2 is preferably a six-axis robot, which is also called a vertical articulated robot or a multi-axis robot, and is one of the most common industrial robots in the industrial field today. The robot is provided with five or six rotating shafts, a controller, a servo driving system and a detection sensing device, is a humanoid operation, is similar to human arms, and can replace a plurality of work posts which are not suitable for being completed by manpower and are harmful to human bodies. The optical-mechanical-electrical integrated automatic production equipment has high degree of freedom, is suitable for multi-track or multi-angle work, can be programmed freely and controlled automatically, can finish various operations in a three-dimensional space, is optical-mechanical-electrical integrated automatic production equipment, and is particularly suitable for production operations of various types and variable batches. It plays an important role in reducing production cost, improving product quality, improving production efficiency, improving labor conditions and rapidly updating and upgrading products.

In the present embodiment, the handling robot 2 is more specifically an IRB 120 small-sized industrial robot, and the IRB 120 small-sized industrial robot is a smallest robot manufactured by ABB, and has the characteristics of agility, compactness and light weight, and the control precision and the path precision are both excellent, so that the IRB 120 small-sized industrial robot is an ideal choice for material handling and assembly applications. In addition, the structure of the IRB 120 small industrial robot is prior art and will not be described in detail here.

Referring to fig. 1 and 2, the automatic trimming system further includes an information collecting device 5, the information collecting device 5 is disposed at the executing end 22, and the information collecting device 5 is configured to collect position information of the product 200 to be processed and boundary information of the edge of the product 200 to be processed. It should be noted here that the information collecting device 5 collects the position information of the product 200 to be processed, and the purpose of the information collecting device is to ensure that the grasping assembly 6 can accurately grasp the product 200 to be processed. The information acquisition device 5 acquires the boundary information of the rim charge of the product 200 to be processed, so as to ensure that the cutting assembly 4 can accurately cut the rim charge of the product 200 to be processed.

Preferably, in this embodiment, the information collecting device 5 is a CCD camera. The CCD camera is an ideal CCD camera element in a security system, and the CCD is a charge coupled device (charge coupled device) for converting light into electric charges, storing and transferring the electric charges, and taking out the stored electric charges to change the voltage. In this embodiment, the position of the product 200 to be processed and the light brightness of the boundary of the rim charge are obtained by the CCD camera, and the light is processed into a voltage change, thereby converting the voltage change into the position information and the boundary information of the rim charge of the product 200 to be processed.

Referring to fig. 1 and 2, the automatic rim charge cutting system further includes a grabbing component 6, the grabbing component 6 is disposed at the execution end 22, and the grabbing component 6 is configured to grab the product 200 to be processed according to the position information. The cutting assembly 4 is arranged at the execution end 22, and the cutting assembly 4 is used for cutting off the rim charge according to the rim charge boundary information.

It should be noted that, in the present embodiment, the information acquisition device 5, the grasping unit 6 and the cutting unit 4 are all disposed at the execution end 22 of the carrying robot 2, but the information acquisition device 5, the grasping unit 6 and the cutting unit 4 are disposed at intervals, which ensures that the information acquisition device 5, the grasping unit 6 and the cutting unit 4 do not generate structural interference with each other during operation.

In the present embodiment, referring to fig. 2, the carrying manipulator 2 includes six shafts, the last shaft is the turning shaft 23, the executing end 22 is the end of the turning shaft 23, the executing end 22 is provided with the mounting plate 24, the mounting plate 24 is attached to the executing end 22 and is axially perpendicular to the turning shaft 23, and the grabbing component 6, the information collecting device 5 and the cutting component 4 are all mounted on the mounting plate 24. In the embodiment, the grabbing component 6, the information acquisition device 5 and the cutting component 4 are all installed on the carrying manipulator 2 through the installation plate 24, the situation that the grabbing component 6, the information acquisition device 5 and the cutting component 4 are installed on the carrying manipulator 2 independently is avoided, in addition, the tail end of the turnover shaft 23 of the carrying manipulator 2 is designed with an installation structure, only the installation plate 24 is needed to be installed on the installation structure, the operation is simple, the installation structure does not need to be additionally developed on the carrying manipulator 2, and the carrying manipulator 2 is simplified.

In addition, this embodiment is through pasting mounting panel 24 in execution end 22 and with the setting of trip shaft 23 axial vertically, on the one hand, it is favorable to utilizing the terminal mounting structure of trip shaft 23 to carry out the installation of mounting panel 24 to be favorable to utilizing, the simplified structure, on the other hand also makes the subassembly 6 of snatching installed on mounting panel 24, the distance minimizing of information acquisition device 5 and excision subassembly 4 and trip shaft 23, guarantee to snatch the subassembly 6, the installation stability of information acquisition device 5 and excision subassembly 4 on carrying manipulator 2, also guarantee simultaneously that trip shaft 23 when overturning, can easily drive and snatch subassembly 6, information acquisition device 5 and excision subassembly 4 and overturn.

Specifically, referring to fig. 3, the cutting assembly 4 and the information collecting device 5 are both perpendicular to the mounting plate 24 and extend in a direction away from the actuating end 22, and the grabbing assembly 6 is parallel to the mounting plate 24 and extends in a direction away from the actuating end 22. It should be noted here that the grasping assembly 6 needs to grasp the product 200 to be processed, so the final load of the grasping assembly 6 is much larger than that of the cutting assembly 4 and the information acquisition device 5, in order to reduce the load of the grasping assembly 6 on the carrying manipulator 2, and in order to prevent the carrying manipulator 2 from failing due to too large load, the grasping assembly 6 is arranged parallel to the mounting plate 24 in this embodiment, so the moment arm of the grasping assembly 6 on the overturning fulcrum relative to the overturning shaft 23 can be greatly shortened, and further the force of the grasping assembly 6 on the overturning shaft 23 is reduced. The cutting assembly 4 and the information acquisition device 5 are relatively light in weight, and in order to ensure the accuracy of information acquisition by the information acquisition device 5 and the cutting accuracy of the cutting assembly 4, the cutting assembly 4 and the information acquisition device 5 are both arranged to be perpendicular to the mounting plate 24.

Referring to fig. 3, the cutting assembly 4 and the information collecting device 5 are respectively disposed at two opposite ends of the mounting plate 24, the grabbing assembly 6 is disposed between the cutting assembly 4 and the information collecting device 5 and extends along a direction perpendicular to the center line of the cutting assembly 4 and the information collecting device 5, so that mutual interference between the information collecting device 5, the cutting assembly 4 and the grabbing assembly 6 during working is avoided, and meanwhile, the grabbing assembly 6 with a heavy weight is disposed at a middle position, so that the working force arm of the grabbing assembly 6 can be reduced as much as possible, on the one hand, the weight of the whole carrying manipulator 2 is distributed stably, the structure is stable, shaking caused by unbalanced weight is avoided, and the working stability of the grabbing assembly 6, the cutting assembly 4 and the information collecting device 5 is ensured.

In the present embodiment, referring to fig. 3, the mounting plate 24 has a first side 241 and a second side 242 oppositely disposed, the first side 241 is attached to the actuating end 22, and the second side 242 is disposed away from the actuating end 22. Specifically, referring to fig. 3, the cutting assembly 4 is mounted at the right end of the second side 242, the grabbing assembly 6 is mounted at the middle position of the right side and extends downward, and the information acquisition device 5 is mounted at the left end of the first side 241 through the connecting member 25, which are only schematic views in a certain state.

Referring to fig. 3, the connecting member 25 is L-shaped, the connecting member 25 includes a first connecting plate 251 and a second connecting plate 252, the first connecting plate 251 and the second connecting plate 252 are perpendicular to each other, the outer side of the first connecting plate 251 is attached to the first side 241 of the mounting plate 24, the second connecting plate 252 at least partially protrudes from one end (left end in fig. 3) of the mounting plate 24, and the information collecting device 5 is attached to the outer side of the second connecting plate 252 and extends in a direction away from the actuating end 22. In the embodiment, the connecting piece 25 is arranged, so that the information acquisition device 5 is conveniently mounted on the mounting plate 24 on one hand, and the information acquisition device 5 is also mounted on the mounting plate 24 at the approximate middle position along the length direction on the other hand, so that the stress is stable, and the mounting is reliable.

It should be noted that the connecting member 25 is L-shaped, and the first connecting plate 251 and the second connecting plate 252 enclose an L-shaped space, so that a side of the first connecting plate 251 facing away from the L-shaped space is referred to as an outer side of the first connecting plate 251, and a side of the second connecting plate 252 facing away from the L-shaped space is referred to as an outer side of the second connecting plate 252.

Preferably, in the present embodiment, referring to fig. 3, the width of the two ends of the mounting plate 24 in the vertical direction is smaller than the width of the middle, and the two ends and the middle are transited through an arc.

In the present embodiment, referring to fig. 3, the cutting assembly 4 includes a blade holder 41 and a blade 42, the blade holder 41 is mounted on the mounting plate 24, the blade 42 is mounted on the blade holder 41, and both the blade holder 41 and the blade 42 extend perpendicular to the mounting plate 24 in a direction away from the mounting plate 24.

Specifically, the tool holder 41 is in a stepped cylindrical shape, the end with the large diameter of the tool holder 41 is fixed on the mounting plate 24 through a fastener, the end with the small diameter of the tool holder 41 is provided with a mounting groove 410, the mounting groove 410 is in a small semi-arc shape and penetrates through the right side and the front side of the tool holder 41, one end of the blade 42 is mounted on the mounting groove 410 and is pressed and fixed through the pressing plate 43, and the pressing plate 43 is fixed on the tool holder 41 through a fastener. The blade holder 41 of the present embodiment has a simple structure, and the blade 42 is easy to mount and dismount.

In the present embodiment, referring to fig. 3, the grabbing component 6 includes a connecting rod 61, a suction seat 62 and four first suction nozzles 63. Connecting rod 61 one end is fixed in on mounting panel 24, and the other end perpendicular to information acquisition device 5 and the connecting wire of excision subassembly 4 extend to keeping away from mounting panel 24 direction, inhales the seat 62 and installs in the connecting rod 61 other end, inhales seat 62 and the perpendicular setting of mounting panel 24, and each first suction nozzle 63 evenly distributed is on inhaling seat 62, and each first suction nozzle 63 is used for adsorbing pending product 200. The present embodiment grabs the to-be-processed product 200 through the first suction nozzle 63, and the to-be-processed product 200 is not scratched, and is firmly adsorbed, thereby facilitating transportation. It is understood that in other embodiments of the present invention, the above-mentioned grabbing assembly 6 may also comprise two, five, six and more than six first suction nozzles 63 according to the actual size of the product 200 to be processed, which is not limited herein.

In this embodiment, referring to fig. 3, the suction base 62 is provided with eight first waist-shaped holes 620, the eight first waist-shaped holes 620 are divided into two rows, each row of the first waist-shaped holes 620 is arranged at equal intervals, the four first suction nozzles 63 are respectively arranged in four of the first waist-shaped holes 620, and the first suction nozzles 63 are fixed in the first waist-shaped holes 620 in a position-adjustable manner, that is, the first suction nozzles 63 can be fixed at any position in the length direction of the first waist-shaped holes 620, so that not only the positions of the first suction nozzles 63 are adjustable, but also different distances can be formed between the first suction nozzles 63, and thus the suction base can be used for sucking and grabbing products 200 to be processed with different sizes. It is understood that in other embodiments of the present invention, four, six or more than six first kidney-shaped holes 620 may be provided on the suction seat 62 according to the actual size of the product 200 to be processed, which is not limited herein.

Referring to fig. 4, the positioning device 3 includes a mounting base 31, a positioning substrate 32, a positioning structure 33, and a rotation driving mechanism 34. The positioning substrate 32 is rotatably disposed on the mounting seat 31, the positioning substrate 32 can be horizontally disposed to support the product 200 to be processed and can rotate to eject waste materials generated after the product 200 to be processed is cut off, the positioning structure 33 is mounted on the mounting seat 31 or the positioning substrate 32, the positioning structure 33 is used for positioning the product 200 to be processed on the positioning substrate 32, the rotary driving mechanism 34 is mounted on the mounting seat 31, and the rotary driving mechanism 34 is used for driving the positioning substrate 32 to rotate to eject waste materials generated after the product 200 to be processed is processed.

In the present embodiment, referring to fig. 5, the mounting base 31 defines a rotating space 310, the waste chute 8 is disposed below the rotating space 310, referring to fig. 6, the rotating driving mechanism 34 includes a rotating shaft 341 and a rotating cylinder 342, the rotating cylinder 342 is disposed on the mounting base 31, the rotating cylinder 342 is used for driving the rotating shaft 341 to rotate, the rotating shaft 341 is disposed on the mounting base 31 and transversely disposed in the rotating space 310, and the bottom of the positioning substrate 32 is mounted on the rotating shaft 341. When the waste on the positioning substrate 32 needs to be poured out, the controllable driving rotary cylinder 342 is started, the rotary cylinder 342 drives the rotating shaft 341 to rotate, the rotating shaft drives the positioning substrate 32 to rotate around the rotating shaft 341, so that the waste on the positioning substrate 32 is poured out, and the waste chute 8 receives the waste poured out from the positioning substrate 32.

Referring to fig. 5, the mounting base 31 is further provided with a fixing plate 317, the fixing plate 317 is transversely disposed in the rotating space 310 and is spaced from and parallel to the rotating shaft 341, the fixing plate 317 is provided with second suction nozzles 316 along the length direction thereof, the rotating shaft 341 is connected to the position near the middle of the bottom of the positioning substrate 32, and each second suction nozzle 316 on the fixing plate 317 can suck and fix one side of the bottom of the positioning substrate 32 when the positioning substrate 32 is horizontally disposed, so that, when the positioning substrate 32 rotates, taking fig. 5 as an example, the positioning substrate 32 can only rotate clockwise due to the abutting action of the fixing plate 317, after the waste is completely dumped, the positioning substrate 32 rotates counterclockwise, and when one side of the positioning substrate 32 abuts against the fixing plate 317, the positioning substrate 32 is in a horizontal position, and the positioning substrate 32 cannot rotate any more, thereby ensuring that the positioning substrate 32 is in a horizontal position in a positioning. In addition, in order to ensure the stability of the positioning substrate 32 during the positioning operation, a plurality of second suction nozzles 316 may be provided on the fixing plate 317, and the bottom side of the positioning substrate 32 may be fixed by the second suction nozzles 316, thereby ensuring the stability of the positioning substrate 32.

Referring to fig. 4 to fig. 6, in the present embodiment, the positioning structure 33 includes a fixed block set 331 and a movable positioning set 332. The fixing block set 331 is fixed on the bearing surface of the positioning substrate 32, the fixing block set 331 is used for positioning two adjacent side edges of the product 200 to be processed, specifically, positioning of the left side and the rear side in fig. 1, the movable positioning set 332 is movably arranged on the positioning substrate 32 or the mounting base 31, the movable positioning set 332 is used for positioning other side edges of the product 200 to be processed, specifically, positioning of the right side, the front side and the top side in fig. 5, and thus the product 200 to be processed is fixed.

In this embodiment, the positioning substrate 32, the fixed block set 331 and the movable positioning set 332 are used to position all six surfaces of the product 200 to be processed, so as to fix the product 200 to be processed. It is understood that, in other embodiments of the present invention, according to the actual situation and the specific requirement, only the individual side of the product 200 to be processed may be positioned and fixed, for example, the product 200 to be processed is adsorbed on the positioning substrate 32 by the suction cup, which is not limited herein.

Specifically, in this embodiment, the fixing block set 331 includes a first fixing block 3311 and a second fixing block 3312, the first fixing block 3311 is fixed on the positioning substrate 32 in a position-adjustable manner, the first fixing block 3311 has a first positioning surface, the second fixing block 3312 is fixed on the positioning substrate 32 in a position-adjustable manner, the second fixing block 3312 has a second positioning surface, and the first positioning surface and the second positioning surface are perpendicular to each other and are respectively used for abutting against two adjacent side edges of the product 200 to be processed. In this embodiment, the first fixing block 3311 and the second fixing block 3312 are both fixed to the positioning substrate 32 in a position-adjustable manner, so that the first fixing block 3311 and the second fixing block 3312 can be adjusted in position according to the actual size of the product 200 to be processed, and the product 200 to be processed having different sizes can be positioned, which has a wider application range.

Referring to fig. 2, a plurality of mounting holes 320 are distributed on the positioning substrate 32, and the mounting holes 320 are distributed according to positions where the first fixing block 3311 and the second fixing block 3312 may need to be fixed. The first fixing block 3311 and the second fixing block 3312 are both long block-shaped structures, the first fixing block 3311 extends in the front-rear direction, the second fixing block 3312 extends in the front-rear direction, the left and right ends of the first fixing block 3311 and the front and rear ends of the second fixing block 3312 are respectively provided with a second waist-shaped hole 3310, and the first fixing block 3311 and the second fixing block 3312 are both locked on the positioning substrate 32 through the second waist-shaped holes 3310.

In this embodiment, the movable positioning set 332 includes a first positioning set, a second positioning set and a third positioning set.

Specifically, the first positioning group includes a first movable block 3321 and a first cylinder 3324, the first cylinder 3324 is a moving cylinder, the first cylinder 3324 is disposed on the right side of the bottom of the positioning substrate 32, the first cylinder 3324 can output a left-right movement, an output end of the first cylinder 3324 protrudes from the right side of the positioning substrate 32 and is connected to the first movable block 3321, the first cylinder 3324 is used for driving the first movable block 3321 to move horizontally, and the first movable block 3321 and the first fixed block 3311 can respectively abut against two opposite sides of the product 200 to be processed under the driving action of the first cylinder 3324, that is, the left side and the right side in fig. 2, so as to prevent the product 200 to be processed from moving left and right.

The second positioning set includes a second movable block 3322 and a second cylinder 3325, the second cylinder 3325 is a movable cylinder, the second cylinder 3325 is disposed at the front side of the bottom of the positioning substrate 32, the second cylinder 3325 can output a back-and-forth movement, an output end of the second cylinder 3325 protrudes from the front side of the positioning substrate 32 and is connected to the second movable block 3322, the second cylinder 3325 is used for driving the second movable block 3322 to move horizontally back and forth, and the second movable block 3322 and the second fixed block 3312 can respectively abut against two opposite sides of the product 200 to be processed under the driving action of the second cylinder 3325, i.e., the front side and the rear side in fig. 5, so as to prevent the product 200 to be processed from moving left and right. In addition, in this embodiment, since the product 200 to be processed is a plastic oil bottle, and the oil outlet side of the plastic oil bottle is disposed obliquely, the third positioning surface of the second movable block 3322, which is used for abutting against the plastic oil bottle, is an inclined surface, so as to better position the product 200 to be processed.

The third location group includes third movable block 3323 and third cylinder 3326, third cylinder 3326 is rotatory die clamping cylinder, it not only can export rotary motion, can also export linear motion, third cylinder 3326 is located on mount pad 31, the output and the third movable block 3323 of third cylinder 3326 remove to be connected, third cylinder 3326 is used for driving the rotation of third movable block 3323 and reciprocates, third movable block 3323 is used for pressing the top side of locating pending product 200 at the drive of third cylinder 3326.

In this embodiment, when the product 200 to be processed needs to be positioned, the product 200 to be processed is first placed on the positioning substrate 32, the left side and the front side of the product 200 to be processed are respectively abutted to the first fixed block 3311 and the second fixed block 3312, then the first air cylinder 3324 and the second air cylinder 3325 are driven, the first movable block 3321 and the second movable block 3322 are respectively abutted to the right side and the front side of the product 200 to be processed, finally the third air cylinder 3326 is driven, the third air cylinder 3326 drives the third movable block 3323 to rotate to the position right above the product 200 to be processed, and then the third movable block 3323 is driven to move downward to press the top side of the product 200 to be processed, thereby completing the positioning of the product 200 to be processed.

When the processed finished product 300 needs to be taken down, the third cylinder 3326 drives the third movable block 3323 to move upwards to release the top side of the finished product 300, then drives the third movable block 3323 to rotate to the side of the rotating space 310, so as to prevent the third movable block 3323 from influencing the rotation of the positioning substrate 32, and finally drives the first cylinder 3324 and the two cylinders thereof to release the right side and the front side of the finished product 300, so that the finished product 300 can be taken out.

In the present embodiment, referring to fig. 4, the mounting seat 31 includes two side plates 312 and a partition 313, the two side plates 312 are disposed opposite to each other at an interval, the partition 313 is disposed between the two side plates 312 and is respectively perpendicular to the two side plates 312, the two side plates 312 and the partition 313 enclose and form a mounting space 311 and a rotating space 310, the rotating space 310 is used for mounting the fixing plate 317, the rotating shaft 341 and the positioning substrate 32 and is used for rotating the positioning substrate 32, and the third cylinder 3326 is mounted in the mounting space 311. The present embodiment divides the mounting seat 31 into a mounting space 311 and a rotating space 310, so that in a specific application, the mounting space 311 is partially mounted on the working platform 10, the rotating space 310 is suspended, and the waste chute 8 is disposed below the rotating space 310 to receive the waste poured out from the positioning substrate 32.

Specifically, referring to fig. 6, each of the two side plates 312 includes a main body portion 3121 and an extending portion 3122, the main body portion 3121 is in a square thin plate shape, the extending portion 3122 extends horizontally rightward from the top end of the main body portion 3121, the two main body portions 3121 and the partition 313 enclose the installation space 311, the bottom of the installation space 311 is provided with an installation bottom plate 314 connected to the two main body portions 3121 and the partition 313, the installation bottom plate 314 can be placed on the work platform 10, in addition, a reinforcing plate 315 is further connected between the two side plates 312, two ends of the reinforcing plate 315 are respectively connected to the two side plates 312, the bottom of the reinforcing plate 315 is connected to the installation bottom plate 314, and the reinforcing plate 315 and the partition.

The two extending portions 3122 and the partition 313 enclose to form a rotating space 310, and two ends of the spindle are respectively rotatably disposed on the two extending portions 3122. This embodiment is through extending two extension 3122 from main part 3121 top to be convenient for place waste tank 8 in the below of two extension 3122, like this, when the rotation of positioning base plate 32, the waste material can directly be poured into waste tank 8, its simple structure, convenient operation.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. Automatic cutting system of rim charge, its characterized in that includes:

the positioning device is used for positioning a product to be processed;

2. The automatic rim charge cutting system of claim 1, further comprising an information acquisition device disposed at an execution end of the handling robot for acquiring position information of a product to be processed and rim charge boundary information of the product to be processed, wherein the cutting assembly performs waste cutting according to the rim charge boundary information.

3. The automatic rim charge cutting system of claim 2, further comprising a grabbing component, wherein the grabbing component is arranged at the execution end and used for grabbing the product to be processed according to the position information;

4. The automatic rim charge cutting system of claim 2, wherein the handling robot is a six-axis robot and the information acquisition device is a CCD camera.

5. The automatic offcut cutting system of claim 3, wherein the manipulator body comprises a turning shaft, the execution end is the tail end of the turning shaft, an installation plate is arranged on the execution end, the installation plate is attached to the execution end and is axially perpendicular to the turning shaft, and the grabbing assembly, the information acquisition device and the cutting assembly are all installed on the installation plate.

6. The automated scrap cutting system in accordance with claim 5 wherein the grasping assembly comprises:

7. The automated rim charge cutting system of claim 1, wherein the positioning device comprises:

a mounting seat;

8. The automated rim charge cutting system of claim 7, further comprising a chute disposed below the positioning base plate for collecting waste material that is poured from the positioning base plate.

9. The automatic rim charge cutting system of claim 7, wherein the mounting base defines a rotation space, the rotation driving mechanism includes a rotating shaft and a rotating cylinder for driving the rotating shaft, the rotating cylinder is disposed on the mounting base, the rotating shaft is rotatably disposed on the mounting base and transversely disposed in the rotation space, and the bottom of the positioning substrate is mounted on the rotating shaft.

10. The automatic rim charge cutting system of claim 8, further comprising a work platform, wherein the handling robot is disposed on the work platform, the positioning device is disposed on the work platform and partially extends out of one side of the work platform, the waste bin is disposed on one side of the work platform, and the loading assembly and the finished bin are disposed on the other side of the work platform, respectively.